CN104122900B - Composite axis tracking system based on rotating biprisms - Google Patents
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- CN104122900B CN104122900B CN201410370054.7A CN201410370054A CN104122900B CN 104122900 B CN104122900 B CN 104122900B CN 201410370054 A CN201410370054 A CN 201410370054A CN 104122900 B CN104122900 B CN 104122900B
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Abstract
The invention provides a composite axis tracking system based on a rotating biprism, which can realize high-precision tracking of a fast moving target, and comprises a rotating biprism tracking control device, an imaging component, a fast reflector tracking device and a detector.
Description
Technical field
The invention belongs to photoelectric tracking field, it is related to a kind of photoelectronic tracking device with control method and in particular to a kind of base
Compound axis tracking system in rotation biprism.
Background technology
Rotation biprism structure is not only suitable for the scanning of laser beam it can also be used to the tracking of fast target.Rotation biprism
Structure (risley prism) reaches, by the two of rotating coaxial prism wedges, the purpose controlling light beam steering, has structure tight
Gather, rotary inertia is low, respond rapid feature.In the existing patent (patent at the peak etc. that continues referring to Yun Maojin, ancestral: cn1256609c
With patent: cn2655268) in propose to carry out light beam scanning using this structure, to based on the rotation scanning means of biprism with sweep
Retouch algorithm to be studied, the fast mirror patent (cn101482643b) of Du Junfeng etc. provides one kind fast in small angle range
Speed follows the tracks of the device of target, but its tracing area is very little.
Some are followed the tracks of the whole audience requiring follower can realize target within the specific limits in application and follow the tracks of, but reality
There is sensing blind area with being difficult to avoid that in rotation prism arrangement.In theory, only when drift angle, the complete phase of refraction coefficient of two prisms
With and when ideal is debug, the system of establishment just can achieve the whole audience covering of target following.And in systems in practice, the structure of prism
Inevitably there is deviation with nominal value or theoretical value in parameter, refraction coefficient, and when system is operated in the weather bar of change
When under part, prism parameters also will produce error therewith changing, and during prism system assembling simultaneously, prism, rotary shaft tilt will lead
Cause alignment error；Due to the impact of the factors such as these mismachining tolerances, rigging error and thermal property change, the light beam of two prisms is inclined
Corner is difficult to be completely counterbalanced by, and the outgoing beam after prism deviation is unable to the area of space near pointing system central shaft, that is,
Produce and point to blind area, as shown in Figure 1.Blind area size depends on the machining accuracy of prism and debugs precision, the finger near central shaft
To blind area scope up to several to hundreds of microradian.When following the tracks of the target in polarizers of big angle scope, it follows the tracks of rotation double prism arrangement
Precision is limited by position sensor precision etc., and its precision often in milliradian magnitude, is extremely difficult to microradian, or even sub-micro
Radian magnitude.
In document, useful three rotating prisms solve the problems, such as to follow the tracks of blind area at present, but each of prism tracks of device
The solution of the prism anglec of rotation has infinite multiple, and control system is extremely complex, and tracking accuracy is also very limited, and tracking accuracy is about
0.1 milliradian, is extremely difficult to differential of the arc measurement level.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, solves rotation biprism and is used for quick mesh in full filed region
The technical problem of mark high precision tracking, provides a kind of method that can be used for fast target high precision tracking.
The technical solution of the present invention is: a kind of based on rotation biprism compound axis tracking system it is characterised in that:
It is made up of rotation biprism assembly, imaging group, fast mirror tracks of device, detector and controller；Rotation biprism assembly
Including the first prism, the second prism, the first motor and the second motor；Wherein, rotation biprism realizes to moving target first
Level is followed the tracks of, and fast mirror tracks of device is realized the second level to target and followed the tracks of.
Further, the rough tracking to moving target realized by rotation biprism, and fast mirror tracks of device is realized to mesh
Target precision tracking.
Further, the compound axis tracking system of described rotation biprism, it is followed the tracks of workflow and comprises the following steps:
Step 1), judge target whether be in prism work blind area, work blind area, then execute the 4th step, not work blind
Area, then execute the 2nd step；
Step 2), according to the azimuth angle theta of goal directed data, the first prism1Orientation angles θ with the second prism2By controlling
Device calculates the corner δ θ of the first prism and the second prism1, δ θ2；
Step 3), controller is according to the corner δ θ of the first prism and the second prism1、δθ2Calculate the first motor and the second electricity
Controlled quentity controlled variable v of machine1, v2The first prism and the second prism is made to rotate δ θ respectively1With δ θ2, by target light deviation to imaging group
Field of view center region；
Step 4), imaging group by target light imaging detector, controller calculates the miss distance δ x and δ y of target；
Step 5), controller calculate the controlled quentity controlled variable of fast mirror tracks of device using the miss distance δ x and δ y of target
vx、vy；
Step 6), fast mirror tracks of device is according to its controlled quentity controlled variable vx、vyTarget is stablized closed loop to the visual field of detector
Center, thus realize the high precision closed loop to target follow the tracks of.
Further, goal directed data includes azimuth and the angle of pitch.
The principle of the invention is:
The block diagram of system is as shown in Fig. 2 the critical piece of composition compound axis tracking system first has rotation biprism group
Part (including prism 1, prism 2, motor 3 and motor 4 etc.), imaging group 5, fast mirror tracks of device 6, detector 7 and control
Device 8.The first order rough tracking to moving target realized by rotation biprism, and fast mirror tracks of device realizes second to target
Level precision tracking.In Fig. 3, maximum region is the following range (± 10 °～± 80 °) of rotation biprism, and center green region is it
Follow the tracks of blind area, in this region, rotation biprism cannot follow the tracks of target；Center white region is detector 7 investigative range, simultaneously
It is also the following range of fast mirror tracks of device 6, white portion is completely covered green area.
The high precision tracking process completing target is as follows:
1) judge target location whether outside rotation biprism blind area, if executing the 2nd step outside blind area, if in blind area
Interior execution the 5th step；
2) by the azimuth angle theta of targettWith angle of pitch φt, calculate make target imaging near the field of view center of detector when
Anglec of rotation δ θ required for two prisms (prism 1, prism 2)1、δθ2；
3) controller drives two motors (motor 3, motor 4) two prisms to be rotated to desired position respectively, by mesh
Mark is tentatively directed near the field of view center of detector；
4) miss distance according to target on detector controls fast mirror tracks of device, and target is stablized closed loop to detection
Device center；
5) if target location is in rotation biprism blind area, rotation biprism controlled quentity controlled variable is constant, is directly existed according to target
Miss distance on detector controls fast mirror tracks of device, and target is stablized closed loop to detector center.
Present invention advantage compared with prior art is:
1) " the compound axis tracking system based on rotation biprism ", proposed by the present invention and " traditional frame-type track frame
Compound axis tracking system " is compared, and its compact conformation, small volume, rotary inertia are low, response is very fast, and control bandwidth is very
Height, enables the quick high accuracy to moving target and follows the tracks of；
2) " the compound axis tracking system based on rotation biprism ", proposed by the present invention with common " rotation biprism with
Track system " is compared, and its tracking accuracy is very high, and does not follow the tracks of blind area.
Brief description
Fig. 1 is the visual field distribution schematic diagram of prism tracks of device；
Fig. 2 is the theory of constitution schematic diagram of rotation biprism compound axis tracking system；1 is prism, and 2 is prism, and 3 is electricity
Machine, 4 is motor, and 5 is imaging group, and 6 is fast mirror tracks of device, and 7 is detector, and 8 is controller；
Fig. 3 is the visual field distribution schematic diagram of rotation biprism compound axis tracking system.
Specific embodiment
For making the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
Combine the compound axis tracking system based on rotation biprism for Fig. 2 introduction first.The critical piece forming this system has
Prism 1, prism 2, motor 3, motor 4, imaging group 5, fast mirror tracks of device 6, detector 7, controller 8.
Wherein prism 1 is identical with prism 2, is all that achromatic prism (can be operated in visible ray, medium wave and LONG WAVE INFRARED ripple
Section), about ± 10 ° of deflection of light angle scope～± 80 ° after prism 1 and prism 2 combination, about ± 0.1 ° of its blind area～±
1.0°.
Motor 3 and motor 4 are torque motor, and the rotor of the two is joined directly together with the first prism and the second prism respectively, can
360 ° continuous to rotate, and has the characteristics that response is fast, rigidity is high, direct fast driving prism 1 and prism 2 arrive and specify azimuth.
Prism 1 is imaged onto detector 7 with the target light after prism 2 deviation by imaging group 5, and detector field of view is less, about
For (± 0.2 °～± 1.5 °), more than prism blind area, the target amount of detection de- 7 is used for controlling fast mirror to follow the tracks of dress its angle of visual field
Put 6.Fast mirror tracks of device 6 (referring to patent cn101482643b or pi company correlation fsm product) can provide bidimensional
Small angle deflection, quick pursuit movement target, its deflection angle is matched with the visual field of detector 7, is given control according to controller 8
Amount processed is by the field of view center of moving target closed loop to detector 7, its closed-loop precision about 0.1～3 μ rad.
Due to detector visual field itself limited (± 0.2 °～± 1.5 °), after needing the guiding data of given target location,
Complete the high precision tracking process of target according to the following steps:
1) judge whether target is in prism work blind area, in work blind area, then execute the 4th step, not in work blind area, then
Execute the 2nd step；
2) according to goal directed data (azimuth angle thetatWith angle of pitch φt), the azimuth angle theta of prism 11Orientation with prism 2
Angle, θ2Calculate the corner δ θ of prism 1 and prism 2 by controller 81、δθ2；
3) controller 8 is according to the corner δ θ of prism 1 and prism 21、δθ2Calculate controlled quentity controlled variable v of motor 3 and motor 41、v2,
Prism 1 and prism 2 is made to rotate δ θ respectively1With δ θ2, by the field of view center region of target light deviation to imaging group 5, prism
Group tracking accuracy about 5～30 "；
4) by target light imaging detector 7, controller 8 calculates the miss distance δ x and δ y of target to imaging group 5；
5) controller 8 using the miss distance of target and calculates controlled quentity controlled variable v of fast mirror tracks of device 6x、vy；
6) fast mirror tracks of device 6 is according to its controlled quentity controlled variable vx、vyTarget is stablized closed loop in the visual field of detector 7
The heart, tracking accuracy about 0.1～3 μ rad of fast mirror tracks of device 6.
In a word, prism tracks of device and fast mirror is utilized to follow the tracks of dress based on the compound axis tracking system of rotation biprism
Put and achieve the polarizers of big angle scope high precision tracking to moving target.
The above, the only specific embodiment in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What is familiar with the people of this technology in disclosed technical scope it will be appreciated that the conversion expected or replacement, all should cover
Within the scope of the comprising of the present invention.
Claims (1)
1. a kind of based on rotation biprism compound axis tracking system it is characterised in that: by rotation biprism assembly, imaging group
(5), fast mirror tracks of device (6), detector (7) and controller (8) composition；Rotation biprism assembly includes the first prism
(1), the second prism (2), the first motor (3) and the second motor (4)；Wherein, rotation biprism realize to moving target thick with
Track, fast mirror tracks of device realizes the essence tracking to target；
Rotation biprism is realized the first order to moving target and is followed the tracks of, and fast mirror tracks of device realizes the second level to target
Follow the tracks of；
It is followed the tracks of workflow and comprises the following steps:
Step 1), judge target whether be in prism work blind area, work blind area, then execute the 4th step, not work blind area,
Then execute the 2nd step；
Step 2), according to the azimuth angle theta of goal directed data, the first prism (1)1Orientation angles θ with the second prism (2)2By controlling
Device (8) processed calculates the corner δ θ of the first prism (1) and the second prism (2)1, δ θ2；
Step 3), controller (8) is according to the corner δ θ of the first prism (1) and the second prism (2)1、δθ2Calculate the first motor (3)
Controlled quentity controlled variable v with the second motor (4)1, v2The first prism (1) and the second prism (2) is made to rotate δ θ respectively1With δ θ2, by mesh
Mark deflection of light is to the field of view center region of imaging group (5)；
Step 4), imaging group (5) by target light imaging detector (7), controller (8) calculate target miss distance δ x and
δy；
Step 5), controller (8) calculate the control of fast mirror tracks of device (6) using the miss distance δ x and δ y of target
Amount vx、vy；
Step 6), fast mirror tracks of device (6) is according to its controlled quentity controlled variable vx、vyTarget is stablized closed loop regarding to detector (7)
Field center, thus realize the high precision closed loop to target follow the tracks of, tracking accuracy 0.1～3 μ rad；
Compound axis tracking system architecture based on rotation biprism is compact, small volume, rotary inertia are low, response is very fast for this,
And control bandwidth is very high, enables the quick high accuracy to moving target and follow the tracks of；Tracking accuracy is very high, and does not follow the tracks of blind
Area.
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| CN201410370054.7A CN104122900B (en) | 2014-07-30 | 2014-07-30 | Composite axis tracking system based on rotating biprisms |
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| CN104793334B (en) * | 2015-04-02 | 2017-03-01 | 同济大学 | A kind of coarse-fine coupling optical scanning means of cascade |
| CN105955281B (en) * | 2016-04-27 | 2018-08-28 | 西安应用光学研究所 | A kind of Risley prism system control methods applied to Airborne IR assisting navigation |
| CN106020241B (en) * | 2016-05-30 | 2018-11-30 | 中国科学院光电技术研究所 | Rotary biprism imaging alignment method |
| CN108333747A (en) * | 2018-03-28 | 2018-07-27 | 中国科学院西安光学精密机械研究所 | A mirror system is swept to lightweight for expanding visual field |
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| CN110572616A (en) * | 2019-09-17 | 2019-12-13 | 四川大学 | Adaptive prism-based adaptive zooming panoramic monitoring system |
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| CN112346485B (en) * | 2020-12-24 | 2021-05-25 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Photoelectric tracking control method, system, electronic equipment and storage medium |
| CN113189873B (en) * | 2021-04-21 | 2022-08-02 | 中国科学院光电技术研究所 | Rapid high-precision calculation method for rotating biprism based on symmetric error fitting |
| CN113237439B (en) * | 2021-04-30 | 2022-07-15 | 长春理工大学 | Decoupling tracking method of periscopic laser communication terminal |
| CN113359871B (en) * | 2021-06-29 | 2022-08-23 | 中国科学院光电技术研究所 | Fixed-point closed-loop method based on double-prism rotating device |
| CN114625179B (en) * | 2022-03-14 | 2023-05-26 | 中国科学院光电技术研究所 | Method for quickly and smoothly tracking target by rotating biprism |
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